Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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6.10 Position Mode (Application class 3)
In this application class the Drive Object (DO) provides a closed position control loop with its
own position interpolation. The motion tasks, which are configured by MT parameters in
AKD, can be accessed.
In PROFIdrive two different submodes are possible, which allow the controlling device to
access motion task parameters via I/O messaging.
Furthermore the general state machine of the drive Axis Object is extended to start/-
configure/stop a motion task.
“ONLY” in state S4 („Operational“), the extended state machine can be accessed.
6.10.1 Submode „Program mode“
The „Program mode“ can be used to start/switch to a specific predefined motion task via I/O
messaging. Telegram 7 ("Standard telegram 7" (
➜
p. 41)) is used for this purpose. For
addressing the motion task signal „SATZANW“ is used. With signal „AKTSATZ“ the actual
running motion task number can be read.
Requirements:
l
Drive axis state machine needs to be in S4 („Operational“)
l
Operation mode needs to be „Position mode“
l
Standard telegram 7 needs to be configured
l
Axis needs to be homed (ZSW1 Bit 11 set, See also Status word bits (ZSW1) (
➜
p. 33))
l
Motion task needs to be configured
Start a motion task:
l
Set SATZANW to the motion task number, which shall be started
l
Set STW1 Bit 4 and 5 to true (Do not reject traversing task and no intermediate stop)
l
Set STW1 Bit 6 from zero to one, the motion task will be activated
l
ZSW1 Bit 13 will be set to one when the drive is moving
l
after the target position is reached, ZSW 1 Bit 10 is set
Abort or error in executing motion task:
l
If the following error is not in tolerance range, ZSW1 Bit 8 is set
l
If the following error is not in tolerance range, ZSW1 Bit 8 is set
l
If the following error is not in tolerance range, ZSW1 Bit 8 is set
Warning or Fault handling:
l
case of warning, ZSW1 Bit 7 is set (See also Status word bits (ZSW1) (
➜
p. 33))
l
case of fault, ZSW1 Bit 3 is set (See also Status word bits (ZSW1) (
➜
p. 33))
The figure on the next page shows the extension of the general state diagram of DO. Also the
optional jog functionality is supported. The homing procedure can be achieved through bit
STW1 Bit 11 (See also Homing (
➜
p. 40)). After an intermediate stop, the motion task can
be activated again through STW1 Bit 5 set.
If the general state machine of the DO is in “Operational” and the standard telegram 7 is used
to configure a motion task, the following sequence can be used to start a motion task:
l
Configure a motion task
l
Change the general state machine to S4 (Drive is enabled)
l
Set SATZANW to the motion task number, which needs to be started
l
Used STW1 Bit 4,5 and 6 to start the motiontask. BIT 6 needs to be an edge
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 37